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Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair

This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on the structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increas...

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Main Authors: Aula, Abqori, Akmeliawati, Rini, Ahmad, Salmiah
Format: Conference or Workshop Item
Language:English
English
Published: 2013
Subjects:
TA174 Engineering design
TA329 Engineering mathematics. Engineering analysis
TJ212 Control engineering
Online Access:http://irep.iium.edu.my/31676/1/%5BFull_Paper_ICOM%2713%5D_pch_submitted.pdf
http://irep.iium.edu.my/31676/4/icom13.pdf
http://irep.iium.edu.my/31676/
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spelling my.iium.irep.316762015-03-04T01:16:30Z http://irep.iium.edu.my/31676/ Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair Aula, Abqori Akmeliawati, Rini Ahmad, Salmiah TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on the structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increase mobility and independence of the user. Then, the mathematical model of the TWW in its balance mode is derived. The model is based on the total energy in the system. The system is divided into subsystems whereby the interconnections which exist are utilized. The nonlinearity of the model is preserved using the port-controlled Hamiltonian system (PCHS) and made to advantage. The proposed controller is designed based on the idea of PCH such that the energy balance in the system can be achieved while stabilizing the system. 2013 Conference or Workshop Item REM application/pdf en http://irep.iium.edu.my/31676/1/%5BFull_Paper_ICOM%2713%5D_pch_submitted.pdf application/pdf en http://irep.iium.edu.my/31676/4/icom13.pdf Aula, Abqori and Akmeliawati, Rini and Ahmad, Salmiah (2013) Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair. In: 5th International Conference on Mechatronics (ICOM'13), 2 – 4 July, 2013,, Kuala Lumpur, Malaysia. (Unpublished)
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
English
topic TA174 Engineering design
TA329 Engineering mathematics. Engineering analysis
TJ212 Control engineering
spellingShingle TA174 Engineering design
TA329 Engineering mathematics. Engineering analysis
TJ212 Control engineering
Aula, Abqori
Akmeliawati, Rini
Ahmad, Salmiah
Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
description This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on the structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increase mobility and independence of the user. Then, the mathematical model of the TWW in its balance mode is derived. The model is based on the total energy in the system. The system is divided into subsystems whereby the interconnections which exist are utilized. The nonlinearity of the model is preserved using the port-controlled Hamiltonian system (PCHS) and made to advantage. The proposed controller is designed based on the idea of PCH such that the energy balance in the system can be achieved while stabilizing the system.
format Conference or Workshop Item
author Aula, Abqori
Akmeliawati, Rini
Ahmad, Salmiah
author_facet Aula, Abqori
Akmeliawati, Rini
Ahmad, Salmiah
author_sort Aula, Abqori
title Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_short Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_full Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_fullStr Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_full_unstemmed Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_sort towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
publishDate 2013
url http://irep.iium.edu.my/31676/1/%5BFull_Paper_ICOM%2713%5D_pch_submitted.pdf
http://irep.iium.edu.my/31676/4/icom13.pdf
http://irep.iium.edu.my/31676/
_version_ 1643610050660401152
score 13.211869

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